public override Vector2 Calculate()
{
bool IsNear(BaseGameEntity entity, float range) => Vector2.DistanceSquared(this.Entity.Position, entity.Position) < range * range;
bool InAlignmentRange(MovingEntity entity) => IsNear(entity, this.alignmentRadius);
bool InCohesionRange(MovingEntity entity) => IsNear(entity, this.cohesionRadius);
bool InSeparationRange(MovingEntity entity) => IsNear(entity, this.separationRadius);
const int amountOfNeighbours = 10;
IEnumerable <Bird> birds = this.world.Entities.OfType <Bird>()
.OrderBy(bird => Vector2.DistanceSquared(bird.Position, this.Entity.Position))
.Where(entity => entity != this.Entity)
.Take(amountOfNeighbours)
.ToArray();
// When no neighbours nearby, wander
if (!birds.Any())
{
return(this.innerWander.Calculate());
}
Vector2 alignment = SteeringBehaviours.Alignment(birds.Where(InAlignmentRange));
Vector2 cohesion = SteeringBehaviours.Cohesion(this.Entity, birds.Where(InCohesionRange));
Vector2 separation = SteeringBehaviours.Separation(this.Entity, birds.Where(InSeparationRange));
Vector2 target = alignment * this.alignmentWeight +
cohesion * this.cohesionWeight +
separation * this.separationWeight;
return(target * this.Strength);
}
public override Vector2 Calculate()
{
Vector2 steeringForce = new Vector2(0, 0);
DynamicEntity.entityManager.TagNeighbours(DynamicEntity, 100);
DynamicEntity.entityManager.EnforceNonPenetrationConstraint(DynamicEntity);
List <DynamicGameEntity> entities = DynamicEntity.entityManager.GetMovingEntities();
steeringForce += Vector2.Multiply(SteeringBehaviours.Cohesion(DynamicEntity, entities), cohesionAmount);
steeringForce += Vector2.Multiply(SteeringBehaviours.Alignment(DynamicEntity, entities), alignmentAmount);
steeringForce += Vector2.Multiply(SteeringBehaviours.Separation(DynamicEntity, entities), separationAmount);
steeringForce += Vector2.Multiply(SteeringBehaviours.Wander(DynamicEntity, 20, 5, 5), wanderAmount);
return(steeringForce.Truncate(maxSteeringForce));
}
// Draw gizmos when this agent is selected in the scene view
private void OnDrawGizmosSelected()
{
if (_steering == null)
{
return;
}
var currentPosition = transform.position;
// calculate steering
Vector3 seek = Vector3.zero, arrival = Vector3.zero, flee = Vector3.zero, hide = Vector3.zero;
var alignment = alignmentFactor * _steering.Alignment(_neighbors);
var cohesion = cohesionFactor * _steering.Cohesion(currentPosition, _neighbors);
var separation = separationFactor * _steering.Separation(currentPosition, _neighbors);
var obstacleAvoidance = obstacleAvoidanceFactor * _steering.ObstacleAvoidance(currentPosition, _rigidbody.velocity, _obstacles);
var wander = wanderFactor * _steering.Wander(currentPosition, transform.forward);
if (_isarrivalTargetNotNull)
{
arrival = arrivalFactor * _steering.Arrival(currentPosition, arrivalTarget.position);
}
if (_isseekTargetNotNull)
{
seek = seekFactor * _steering.Seek(currentPosition, seekTarget.position);
}
if (_isfleeTargetNotNull)
{
flee = fleeFactor * _steering.Flee(currentPosition, fleeTarget.position);
}
if (_ishideTargetNotNull)
{
hide = hideFactor * _steering.Hide(currentPosition, hideTarget.position, _obstacles);
}
// calculate acceleration (combine steering behaviours and limit acceleration)
Vector3 acceleration = alignment + cohesion + separation + obstacleAvoidance + wander + arrival + seek + flee + hide;
if (acceleration.magnitude > maxAcceleration)
{
acceleration = acceleration.normalized * maxAcceleration;
}
if (acceleration.magnitude < minAcceleration)
{
acceleration = acceleration.normalized * minAcceleration;
}
// draw vector gizmos
Gizmos.color = Color.red;
Gizmos.DrawRay(currentPosition, cohesion);
Gizmos.color = Color.green;
Gizmos.DrawRay(currentPosition, separation);
Gizmos.color = Color.blue;
Gizmos.DrawRay(currentPosition, alignment);
Gizmos.color = Color.white;
Gizmos.DrawRay(currentPosition, obstacleAvoidance);
Gizmos.color = Color.grey;
Gizmos.DrawRay(currentPosition, flee);
Gizmos.color = Color.black;
Gizmos.DrawRay(currentPosition, hide);
Gizmos.color = Color.yellow;
Gizmos.DrawRay(currentPosition, wander);
Gizmos.DrawRay(currentPosition, arrival);
Gizmos.DrawRay(currentPosition, seek);
Gizmos.color = Color.magenta;
Gizmos.DrawRay(currentPosition, acceleration);
}
